Abstract
A Lyapunov stability analysis for a DC motor operating under uncertain conditions due to friction and backlash, driven by a fuzzy logic control is addressed in this chapter. The tracking control problem is solved using a Mamdani-type fuzzy logic control (FLC). Assuming that the dynamic model is not available and the Mamdani FLC is an heuristic method, a deterministic analysis based on the comparison principle and Lyapunov function is used to verify the stability analysis. Simulation results illustrate the proposed approach.
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Castillo, O., Aguilar, L.T. (2019). Fuzzy Control Synthesis for Systems with Discontinuous Friction. In: Type-2 Fuzzy Logic in Control of Nonsmooth Systems. Studies in Fuzziness and Soft Computing, vol 373. Springer, Cham. https://doi.org/10.1007/978-3-030-03134-3_5
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DOI: https://doi.org/10.1007/978-3-030-03134-3_5
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